CN203373467U - Equidistant closely-arranged micro-hole positioning device of overall puncture template - Google Patents

Abstract

The utility model discloses an equidistant closely-arranged micro-hole positioning device of an overall puncture template. The positioning device comprises an industrial PC, a needle-placing mechanism, a red-light cross laser and a micro CCD camera. A video collecting card is inserted into a slot of the industrial PC, a positioning hole, a needle dropping hole and a telescopic rod are arranged on a bottom plate of the needle-placing mechanism, a cross cursor transmitted by the red-light cross laser is located below the micro CCD camera, and the center point of the cross cursor and the positioning hole are coaxial; a micro-hole belonging to the puncture template is a needle-placing datum hole; after analog-digital conversion is conducted on a video signal, the video signal is processed by the industrial PC, and therefore the relative position relation between the needle dropping hole and the needle-placing datum hole is acquired through the relative position relation between the needle dropping hole and the positioning hole. Necessary circle center position information of the needle-placing datum hole is provided for a placing mechanism of a steel needle array through images and the cross laser, so that puncture steel needle placing is facilitated.

Description

The equidistant solid matter micro hole of integrated piercing template positioner

Technical field

The utility model relates to the auxiliary equipment in a kind of carbon fiber tri-dimensional fabric puncture moulding process, relates in particular to a kind of calibration system for puncture template micro hole in carbon fiber tri-dimensional fabric integrated piercing technique puncture draw point array arranging device.

Background technology

Three dimensional fabric is the fiber reinforcing texture of the best performance that grows up over nearly 40 years, is mainly used in Aeronautics and Astronautics, automobile, medical treatment and new technical field.The integrated piercing technology is a kind of forming technique of three dimensional fabric, and the draw point array of integrated piercing refers to puts into the thousands of puncture arrays that form to tens thousand of equidistant solid matter micro hole of puncture template by draw point.

Along with scientific and technical progress, people progressively incite somebody to action the technology such as manual flow process, technique and information, microelectronics, automation, accurate manufacture in the past and combine, to enhance productivity, to reduce labour intensity.

With traditional manual operations, compare, automated production equipment has operation accurately, and production efficiency is high, reduces labour intensity, saves the advantage of production cost.For this reason, people have developed various automation equipments weaving for carbon fiber tri-dimensional fabric.

The utility model patent that the patent No. is 200810064847.0 discloses a kind of robot puncturing hole in endoscope operation localization method based on image and geometrical model, demarcate the position of endoscopic surgery puncturing hole for scope (endoscope) operation robot, for robot provides necessary scope attitude information, be convenient to the operation to scope.The red spot shaped laser spot laser instrument of two different angle is installed below robot end's mechanical arm, simultaneously, the extension type connecting rod of mechanical arm tip is installed a miniature CCD camera endways, the below that makes the intersection point of two light drop on the miniature CCD camera camera lens is picture centre, by the intersection point of two light, indirectly measures the position coordinates of puncturing hole with respect to robot base's coordinate system.This utility model has improved the positioning precision of puncturing hole, save the demarcation devices such as ccd video camera, avoid only utilizing video camera to carry out binocular and multiple target and regularly in the three-dimensional reconstruction process, take a large amount of resources for computer system, cause system works slow, make the puncturing hole calibration process rapidly, accurately, be conducive to reduce costs, be convenient to product development and production.Its weak point is: the restriction of Stimulated Light device facula area, only can be for diameter be carried out accurately to location fast in patient's abdomen wall puncture hole of 10mm left and right, be not suitable for and have diameter and be less than or equal to 2mm, pitch of holes is less than the location that the equidistant solid matter of 2.3mm is aperture plate.

Technical paper " the part vision location based on the preprocessing ccd image " (building-block machine and automation process technology 2010,9:79-82) take stamping-out array micropore on sheet brass is purpose, it is approach that the raising preprocessing hole of take is measured precision, has introduced a kind of method of coming the positioning workpieces position based on the preprocessing hole ccd image.This localization method adopts the thought of locating after the first clamping of workpiece: the one, and the clamping of workpiece on travelling carriage, adopt one side three block modes to locate, and spring leaf steps up; The 2nd, the location (mould is fixed on lathe) of the relative lathe positioning datum of travelling carriage.Finally complete workpiece first to the location with mould." vision location " is exactly using preprocessing hole as location feature, at travelling carriage, just behind location, by the hole ccd image, determines the error between this hole and positioning datum and feeds back the process that travelling carriage is relocated.It is benchmark that following process be take this hole circle heart, and strict size and positional precision relation are arranged with it.The method can effectively reduce position error, improves location efficiency.Positioning precision is by the accuracy guarantee of error measure, and then depends on the accuracy of detection of center, hole.Its weak point is, for microwell array stamping-out location, can not, for the microwell array location machined, especially can not have frock can't adopt the location of the equidistant solid matter micro hole of puncture template that simultaneously three block modes are located for orifice plate.

The utility model content

For above-mentioned prior art, the utility model provides the equidistant solid matter micro hole of a kind of integrated piercing template positioner, precise positioning for puncture template micro hole position in carbon fiber tri-dimensional fabric integrated piercing technique puncture draw point array arranging device, be based on image and cross laser device and provide the home position information of necessary puncture template upper left corner micro hole for draw point array arranging device, so that the laying of puncture draw point.

In order to solve the problems of the technologies described above, the equidistant solid matter micro hole of a kind of integrated piercing template of the utility model positioner, comprise Industrial PC Computer, cloth pin mechanism, ruddiness cross laser device and miniature CCD camera, be fitted with video frequency collection card in the slot of described Industrial PC Computer, described cloth pin mechanism comprises base plate, but described base plate X-Y moves, described base plate is provided with locating hole, needle falling hole and a telescopic connecting rod, and the distance of described locating hole and needle falling hole is the integral multiple of puncture pattern hole spacing; Described miniature CCD camera is arranged on the end of telescopic connecting rod, and the tracking cross that described ruddiness cross laser device sends is positioned at the below of described miniature CCD camera, and the central point of this tracking cross is coaxial with described locating hole; The micro hole belonged on the puncture template is cloth pin datum hole, described miniature CCD camera is connected to described Industrial PC Computer by data wire, the vision signal through the tracking cross of cloth pin datum hole on described locating hole and puncture template that described miniature CCD camera is sent ruddiness cross laser device passes to video frequency collection card, described Industrial PC Computer is processed after this vision signal A/D is changed, thereby obtains the relative position relation between needle falling hole and cloth pin datum hole according to the relative position relation between needle falling hole and locating hole.

Further, establishing cloth pin datum hole is the aperture that is positioned at the puncture template upper left corner, and the centre-to-centre spacing of the equidistant solid matter micro hole of puncture template is r, and the distance of locating hole and needle falling hole is l _x=a * r, a is integer, if locating hole is coaxial with cloth pin datum hole, locating hole overlaps with the line in the first row aperture center of circle of draw point array on the puncture template with the line of needle falling hole, thereby show that needle falling hole (x, y) and the relative position relation of cloth pin datum hole are:

$\left\{\begin{array}{c}x=a\×r\\ y=0\end{array}\right.$

In the utility model, because upper left corner micro hole on the puncture template is identical with the micro hole diameter dimension of other positions, the position of the locating hole on the puncture template on upper left corner micro hole and cloth pin organization soleplate is coaxial, and all fixing with the pitch of holes of adjacent micro hole, be that in puncture template micro hole machining process, first starts the aperture of processing, this aperture is defined as to the datum hole in process.After coaxial by upper left corner micro hole on locating hole and puncture template, on definite needle falling hole and the template that punctures, the position relationship of upper left corner micro hole is the simplest.Certainly, the micro hole of other specific positions of usining on the puncture template is also passable as the datum hole in process, such as the aperture that is positioned at other 3 angles, but during the cloth pin, be first first overlength puncture needle to be put into to upper left corner aperture on the puncture template, like this for cloth pin work most convenient, not so carry out draw point and lay also getting back to upper left corner aperture behind other specific position apertures location, therefore, will puncture on template that to be defined as cloth pin datum hole be position the most easily in cloth pin process to upper left corner aperture.

Compared with prior art, the beneficial effects of the utility model are:

The utility model adopts miniature CCD camera and cross laser device to coordinate, whether the distance of center to four end points by judging tracking cross equates to determine the position coordinates of associated aperture on needle falling hole and the template that punctures, not only improved the positioning precision of puncture template aperture, and avoided in prior art only utilizing video camera to carry out binocular and multiple target regularly in the three-dimensional reconstruction process, taking a large amount of resources for computer system, cause system works problem slowly, the template small hole calibration process that makes to puncture is rapid, accurately, be conducive to reduce costs, be convenient to product development and production.The utility model can guarantee to puncture positional precision of array of orifices of template, the requirement while laying to meet draw point, be applicable to the application scenario of locating after first clamping.In addition, the utility model is saved the video acquisition element, and its structure and job control principle are simple, compares under the prerequisite that can effectively use cost with the location of the traditional equidistant solid matter micro hole of puncture template relatively low.

The accompanying drawing explanation

Fig. 1 is the formation simplified schematic diagram of the equidistant solid matter micro hole of the utility model integrated piercing template positioner;

Fig. 2 is the structural representation of the pin of cloth shown in Fig. 1 organization soleplate;

Fig. 3 is the utility model neutral line model and each coordinate system graph of a relation;

Fig. 4 is the plane target drone image of vision measurement system;

Fig. 5 is control block diagram in the utility model;

Fig. 6 is the standard grid image field figure in the shooting process;

Fig. 7 is image tagged flow chart in the utility model;

Fig. 8 is the flow chart of realizing the equidistant solid matter micro hole of the utility model integrated piercing template location.

The specific embodiment

Below in conjunction with the specific embodiment, the utility model is described in further detail.

As shown in Figure 1, the equidistant solid matter micro hole of a kind of integrated piercing template of the utility model positioner, comprise Industrial PC Computer 0, cloth pin mechanism, ruddiness cross laser device 1 and miniature CCD camera 2, as shown in Figure 5, be fitted with video frequency collection card 01 in the slot of described Industrial PC Computer 0, described cloth pin mechanism comprises base plate 3, but described base plate 3 X-Y move, as shown in Figure 2, described base plate 3 is provided with locating hole, needle falling hole and a telescopic connecting rod, described locating hole is for determining the position of described ruddiness cross laser device 1, the distance of described locating hole and needle falling hole is the integral multiple of puncture pattern hole spacing, described miniature CCD camera 2 is arranged on the end of telescopic connecting rod 4, described ruddiness cross laser device 1 is arranged on the top of base plate 3 coaxial with locating hole, described miniature CCD camera 2 is arranged on the below of base plate 3, the tracking cross that described ruddiness cross laser device 1 sends is positioned at the below of described miniature CCD camera 2, and the central point of this tracking cross is coaxial with described locating hole, the micro hole belonged on the puncture template is cloth pin datum hole, as shown in Figure 5, described miniature CCD camera 2 is connected to described Industrial PC Computer 0 by data wire, the vision signal through the tracking cross of cloth pin datum hole on described locating hole and puncture template that described miniature CCD camera 2 is sent ruddiness cross laser device 1 passes to video frequency collection card 01, processed after 0 pair of this vision signal A/D conversion of described Industrial PC Computer, thereby obtained the relative position relation between needle falling hole and cloth pin datum hole according to the relative position relation between needle falling hole and locating hole.

The LD-G650A23 that the model of the ruddiness cross laser device 1 in the utility model is Kunshan rich industry electronics technology Co., Ltd, be of a size of Ф 12 * 35mm, or adopt the cross red laser of other producer's same sizes; The model of CCD camera 2 is SONY PH-TV1301, and the video frequency collection card model is a day quick VC4000, or adopts the USB minisize pick-up head.

In the utility model embodiment, on the puncture template, upper left corner micro hole is identical with the micro hole diameter dimension of other positions, the position of the locating hole on the puncture template on upper left corner micro hole and cloth pin organization soleplate is coaxial, and all fixing with the pitch of holes of adjacent micro hole, be that in puncture template micro hole machining process, first starts the aperture of processing, therefore this aperture be defined as to the datum hole in process.After coaxial by upper left corner micro hole on locating hole and puncture template, on definite needle falling hole and the template that punctures, the position relationship of upper left corner micro hole is the simplest.

Certainly, the micro hole of other specific positions of usining on the puncture template is also passable as the datum hole in process, such as the aperture that is positioned at other 3 angles, but during the cloth pin, be first first overlength puncture needle to be put into to upper left corner aperture on the puncture template, like this for cloth pin work most convenient, not so carry out draw point and lay also getting back to upper left corner aperture behind other specific position apertures location, therefore, will puncture on template that to be defined as cloth pin datum hole be position the most easily in cloth pin process to upper left corner aperture.

During the equidistant solid matter micro hole of puncture template location, the template that will puncture is packed in the draw point array and lays on frock, guarantee that the equidistant solid matter aperture of the puncture template the first row line of centres is parallel with the direction of motion of cloth pin organization soleplate simultaneously, then the draw point array is laid to tool locating, and then the location of the template upper left corner micro hole that punctured.

Utilize the equidistant solid matter micro hole of above-mentioned integrated piercing template positioner to realize the method for the equidistant solid matter micro hole of integrated piercing template location, as shown in Figure 8, comprise the following steps:

Determine the position of ruddiness cross laser device 1 locating hole and needle falling hole:

As shown in Figure 2, the distance of the locating hole of ruddiness cross laser device 1 correspondence and needle falling hole is the integral multiple of puncture template aperture pitch of holes.If the centre-to-centre spacing of the equidistant solid matter micro hole of puncture template is r, the distance of locating hole and needle falling hole is l _x:

l _x=a×r （1）

If locating hole is coaxial with puncture template upper left corner aperture, locating hole overlaps with puncture template the first row aperture circle center line connecting with the needle falling hole line, and needle falling hole (x, y) with the relative position relation of puncture template upper left corner aperture is:

$\left\{\begin{array}{c}x=a\×r\\ y=0\end{array}\right.$

Miniature CCD camera is demarcated, with the removal of images distortion, guarantee the miniature CCD camera accurate positioning and there is higher positioning accuracy.

Commonly use the following coordinate system in vision measurement, its definition is respectively as follows, referring to Fig. 3:

(1) world coordinate system (X _w, Y _w, Z _w): also referred to as absolute coordinate system, be used for the position of any object in describe environment, in world coordinate system, one of space M is expressed as (X _w, Y _w, Z _w).

(2) camera coordinate system (X _c, Y _c, Z _c): the initial point of this coordinate system is defined in the photocentre of camera lens.Z _caxle is optical axis, Z _caxle and Y _caxle is parallel to respectively trunnion axis and the vertical axis of the plane of delineation.

(3) (u, v): deposit coordinate also referred to as frame, it take pixel as unit to the image pixel coordinate system, generally take the image upper left corner as initial point, and uv represents respectively columns and the line number in digital picture.

(4) image physical coordinates system (X, Y): its center is that the intersection point of optical axis and the plane of delineation is initial point, and X-axis is parallel with the uv axle of image pixel coordinate system respectively with Y-axis.

After having defined above-mentioned various rectangular coordinate system in space, just can obtain the imaging of camera under linear model and describe, set up the mathematical relationship between dimensional target point and corresponding picture point.

1, the transformation relation of world coordinate system and camera coordinate system

Point in world coordinate system can be described by a rotation transformation matrix R and a translation transformation vector t to the conversion process of camera coordinates system.If in space, the homogeneous coordinates of certain M point under world coordinate system and camera coordinates system are respectively [X _w, Y _w, Z _w] ^t[X _c, Y _c, Z _c] ^tso, there is following relation:

$\left[\begin{array}{c}{x}_c\\ y_{\mathrm{<figure-callout\; id="1"\; label="c\; z\; c"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">c</figure-callout>}}& \\ z_c{}_{}\\ 1\end{array}\right]=\left[\begin{array}{cc}R& t\\ 0^r& 1\end{array}\right]\left[\begin{array}{c}{x}_w\\ y_w\\ z_w\\ 1\end{array}\right]---\left(2\right)$

Wherein, R is 3 * 3 Orthogonal Units matrixes, and t is the D translation vector, t=[t _x, t _y, t _z] ^t,

$R=\left[\begin{array}{ccc}{r}_1& r_2& r_3\\ r_4& r_5& r_6\\ r_7& r_8& r_9\end{array}\right].$

2, the transformation relation of image coordinate system and camera coordinate system

The picture point m coordinate of some M in camera coordinate system in image physical coordinates system is:

$\left\{\begin{array}{c}x={\mathrm{fx}}_c/Z_c\\ y={\mathrm{fy}}_c/Z_c\end{array}\right.---\left(3\right)$

The image physical coordinates of above formula system is further changed into to the image pixel coordinate is:

$\left\{\begin{array}{c}u=x/d_x+u_0\\ v=y/d_y+v_0\end{array}\right.---\left(4\right)$

Wherein, u ₀, v ₀the coordinate of picture centre (intersection point of optical axis and the plane of delineation), d _xand d _ybe respectively the physical size of a pixel in X and Y-direction.Can be obtained the transformation relation between the pixel coordinate of spatial point M and picture point m by formula (3) and formula (4), mean with homogeneous coordinates:

$z_c\left[\begin{array}{c}u\\ \mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">v</figure-callout>}\\ 1\end{array}\right]=\left[\begin{array}{ccc}1/d_x& 0& u_0\\ 0& 1/{\mathrm{<figure-callout\; id="0"\; label="d\; y\; v"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}_y& v_{}{}_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}\mathrm{<figure-callout\; id="0"\; label="f"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">f</figure-callout>}& 0& 0& 0\\ 0& \mathrm{<figure-callout\; id="0"\; label="f"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">f</figure-callout>}& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{x}_c\\ y_{\mathrm{<figure-callout\; id="1"\; label="c\; z\; c"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">c</figure-callout>}}& \\ z_c{}_{}\\ 1\end{array}\right]=\left[\begin{array}{cccc}f/d_x& 0& u_0& 0\\ 0& f/{\mathrm{<figure-callout\; id="0"\; label="d\; y\; v"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}_y& v_{}{}_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\\ 1\end{array}\right]---\left(5\right)$

Make α=f/d _y, β=f/d _yformula (5) is rewritten as:

$z_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{cccc}\mathrm{\&alpha;}& 0& u_0& 0\\ 0& \mathrm{\&beta;}& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\\ 1\end{array}\right]---\left(6\right)$

3. the transformation relation of world coordinate system and image coordinate system

Bring formula (2) into formula (6) and just can obtain the transformation relation between the coordinate in world coordinate system and the coordinate of its picture point m in the image pixel coordinate system with regard to spatial point M:

$z_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]\begin{array}{c}=\left[\begin{array}{cccc}\mathrm{\&alpha;}& \mathrm{\&gamma;}& u_0& 0\\ 0& \mathrm{\&beta;}& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& t\\ 0^r& 1\end{array}\right]\left[\begin{array}{c}{x}_w\\ y_{\mathrm{<figure-callout\; id="1"\; label="w\; z\; w"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">w</figure-callout>}}& \\ z_w{}_{}\\ 1\end{array}\right]=\left[\begin{array}{ccc}\mathrm{\&alpha;}& \mathrm{\&gamma;}& u_0\\ 0& \mathrm{\&beta;}& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cc}R& t\end{array}\right]\end{array}\left[\begin{array}{c}{x}_w\\ y_w\\ z_w\\ 1\end{array}\right]---\left(7\right)$

Above formula can be write a Chinese character in simplified form into: z _cu _uv=AX _w(8)

Wherein, U _uv=[u, v, 1] ^tand X _w=[x _w, y _w, z _w, 1] ^trespectively spatial point M=[x _w, y _w, z _w] ^rwith its picture point m=[u, v] ^thomogeneous coordinates, matrix A is 3 * 4 singular matrixs, also referred to as projection matrix.

$A=\left[\begin{array}{cccc}\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">r</figure-callout>}}_1+u_0{r}_7& \mathrm{\&alpha;}{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">r</figure-callout>}}_2+u_0{r}_8& \mathrm{\&alpha;}{\mathrm{<figure-callout\; id="3"\; label="r"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">r</figure-callout>}}_3+u_0{r}_9& \mathrm{\&alpha;}{t}_x+u_0{t}_z\\ \mathrm{\&beta;}{r}_4+v_0{r}_7& \mathrm{\&beta;}{r}_5+v_0{r}_8& \mathrm{\&beta;}{r}_6+v_0{r}_9& \mathrm{\&beta;}{t}_y+v_0{t}_z\\ r_7& r_8& r_9& t_z\end{array}\right]---\left(9\right)$

Owing to existing various error components in the actual imaging system, the actual imaging model does not meet linear relationship, but a kind of non-linear relation.For the camera lens of mid-focal length normal quality, the distortion error of 1-3 pixel sizes is probably arranged on the border of image.In order to obtain higher certainty of measurement, must adopt nonlinear model to be demarcated camera system.The nonlinear distortion of Description Image point can be with following formula:

$\left\{\begin{array}{c}x=x_d+{\mathrm{\&delta;}}_x\\ y=y_d+{\mathrm{\&delta;}}_y\end{array}\right.---\left(10\right)$

Wherein, the ideal coordinates that (x, y) is the picture point under the pin-hole model image-forming condition, (x _d, y _d) be the coordinate of picture point reality, δ _xwith δ _ybe respectively the distortion value on X profit Y-direction, the position of it and picture point is relevant.

Camera calibration adopts distortion error model---Weng ' the s peg model of nonlinear imaging model, and total distortion is expressed as:

$\left\{\begin{array}{c}{\mathrm{\&delta;}}_x=k_1{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)+{\mathrm{\&rho;}}_1({3\mathrm{<figure-callout\; id="3"\; label="x\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+y_d^2)+2{\mathrm{\&rho;}}_2{x}_d{y}_d+s_1({\mathrm{<figure-callout\; id="2"\; label="x\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+y_d^2)\\ {\mathrm{\&delta;}}_y=k_1{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)+{\mathrm{\&rho;}}_2({\mathrm{<figure-callout\; id="3"\; label="x\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+3y_d^2)+2{\mathrm{\&rho;}}_1{x}_d{y}_d+s_2({\mathrm{<figure-callout\; id="2"\; label="x\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+y_d^2)\end{array}\right.---\left(11\right)$

Make g ₁=s ₁+ ρ ₁, g ₂=s ₂+ ρ ₂, g ₃=2 ρ ₁, g ₄=2 ρ ₂, g ₅=k ₁have:

$\left\{\begin{array}{c}{\mathrm{\&delta;}}_x=({\mathrm{<figure-callout\; id="1"\; label="g"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">g</figure-callout>}}_1+g_2)x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+g_4{x}_d{y}_d+g_1{\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\\ {\mathrm{\&delta;}}_y=g_2{x}_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+g_3{x}_d{y}_d+({\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">g</figure-callout>}}_2+g_4){\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{y}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\end{array}\right.---\left(12\right)$

(12) are brought into to (10) to be obtained:

$\left\{\begin{array}{c}x{=x}_d+({\mathrm{<figure-callout\; id="1"\; label="g"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">g</figure-callout>}}_1+g_3)x_{\mathrm{<figure-callout\; id="3"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^3+g_4{x}_d{y}_d+g_1{\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\\ y=y_d+g_2{x}_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+g_3{x}_d{y}_d+({\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">g</figure-callout>}}_2+g_4){\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{y}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\end{array}\right.---\left(13\right)$

Above formula is the distortion error model of nonlinear imaging model, and camera calibration utilizes above-mentioned model to carry out distortion correction.

The video camera process is: take the space lattice image of the known world coordinate, obtain the image coordinate of corresponding picture point, then calculate inside and outside parameter.Use the method for fractional steps to be solved.At first with approximate free from error grid image field of the mesh node matching of extracting; Then, according to the grid image field simulated and the relation of space actual grid, by (8) formula, solved, can be solved thus the projection matrix of video camera.It is last that according to matching, grid field is out solved the aberration correction factor with the nodal value extracted.

In vision measurement system, adopt plane target drone as demarcating thing (referring to Fig. 4), this target has a series of being uniformly distributed, the straight line of square crossing, the relative position of the intersection point between line is known.And the horizontal direction that the X-axis of world coordinate system is this target, the vertical direction that Y-axis is this target, its initial point is positioned at plane target drone.Obviously for any point on plane target drone, Z is arranged _w=0.

To do following adjustment to system before demarcation:

A. adjust plane target drone, make the line of the mutual disposal on target be parallel to respectively X _waxle and Y _waxle.

B. adjust camera, make its primary optical axis direction as far as possible perpendicular to demarcating plane.

C. adjust miniature CCD camera and become level.

Matching standard grid (referring to Fig. 6) can be expressed as follows respectively the straight line of horizontal direction and vertical direction in the grid image field shown in Fig. 6:

y=ia+b ₀ （14）

x=ia+b ₁ （15）

The interval that wherein a is etween the lines, b ₀, b ₁for side-play amount, the label that i is grid lines.

Adopt least square method to calculate a, b ₀, b ₁etc. parameter, specific practice is as follows:

Get k horizontal line and the l bar vertical line of image central region, note:

$f(a,{\mathrm{<figure-callout\; id="0"\; label="b"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">b</figure-callout>}}_0,b_1)=\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{(\mathrm{ia}+b_0-y_{\mathrm{ij}})}^2+\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{k}{\mathrm{\&Sigma;}}}{(\mathrm{ia}+b_1-x_{\mathrm{ij}})}^2=\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}[{(\mathrm{ia}+b_0-y_{\mathrm{ij}})}^2+{(\mathrm{ja}+b_1-x_{\mathrm{ij}})}^2]---\left(16\right)$

Ask respectively partial derivative, obtain 3 equations:

$\frac{\mathrm{df}}{\mathrm{da}}=2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}[(\mathrm{ia}+b_0-y_{\mathrm{ij}})+(\mathrm{ja}+b_1-x_{\mathrm{ij}})j]$

$=\frac{1}{3}\mathrm{kl}[(k+1)(2k+1)+(l+1)(2l+1)]a+\mathrm{kl}(k+1){\mathrm{<figure-callout\; id="0"\; label="b"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">b</figure-callout>}}_0+\mathrm{kl}(l+1)b_1-2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}({\mathrm{iy}}_{\mathrm{ij}}+{\mathrm{jx}}_{\mathrm{ij}})=0$

$\frac{\mathrm{<figure-callout\; id="0"\; label="df\; d\; b"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">df</figure-callout>}}{d{b}_{}}=2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}(\mathrm{ia}+b_0-y_{\mathrm{ij}})=\mathrm{kl}(k+l)-2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{y}_{\mathrm{ij}}=0$

$\frac{\mathrm{<figure-callout\; id="1"\; label="df\; d\; b"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">df</figure-callout>}}{d{b}_{}}=2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}(\mathrm{ja}+b_1-y_{\mathrm{ij}})=\mathrm{kl}(k+l)-2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{x}_{\mathrm{ij}}=0$

Solve an equation

WF=B （17）

Wherein:

$W=\left[\begin{array}{ccc}\frac{1}{3}[(k+1)(2k+1)+(l+1)(2l+1)]& k+1& l+1\\ k+1& 2& 0\\ l+1& 0& 2\end{array}\right],$ $F=\left[\begin{array}{c}a\\ b_0\\ {\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">b</figure-callout>}}_1\end{array}\right],$ $B=\frac{2}{\mathrm{kl}}\left[\begin{array}{c}\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}({\mathrm{iy}}_{\mathrm{ij}}+{\mathrm{jx}}_{\mathrm{ij}})\\ \underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{y}_{\mathrm{ij}}\\ \underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{x}_{\mathrm{ij}}\end{array}\right]$

Can obtain the intersection point of whole grid thus.

Solve the camera position parameter.

(8) formula is launched to cancellation Z _chave:

$\left\{\begin{array}{c}(u-u_0)x_w{r}_7+(u-u_0)y_w{r}_8+(u-u_0)z_w{r}_9+(u-u_0)t_z-x_w\mathrm{\&alpha;}{r}_1-y_w\mathrm{\&alpha;}{r}_2-z_w\mathrm{\&alpha;}{r}_3-\mathrm{\&alpha;}{t}_x=0\\ (v-v_0)x_w{r}_7+(v-v_0)y_w{r}_8+(v-v_0)z_w{r}_9+(v-v_0)t_z-x_w\mathrm{\&beta;}{r}_4-y_w\mathrm{\&beta;}{r}_5-z_w\mathrm{\&beta;}{r}_6-\mathrm{\&beta;}{t}_y=0\end{array}\right.---\left(18\right)$

Suppose as next group intermediate variable:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">q</figure-callout>}}_1=\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA00003320266500012.png"\; state="\{\{state\}\}">r</figure-callout>}}_1+u_0{r}_7\\ {\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">q</figure-callout>}}_2=\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">r</figure-callout>}}_2+u_0{r}_8\\ {\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">q</figure-callout>}}_3=\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="3"\; label="r"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">r</figure-callout>}}_3+u_0{r}_9\\ q_4=\mathrm{\&beta;}{r}_4+v_0{r}_7\\ q_5=\mathrm{\&beta;}{r}_5+v_0{r}_8\\ q_6=\mathrm{\&beta;}{r}_6+v_0{r}_9\\ q_7=r_7\\ q_8=r_8\\ q_9=r_9\\ q_{10}=\mathrm{\&alpha;}{t}_x+u_0{t}_z\\ q_{11}=\mathrm{\&beta;}{t}_y+v_0{t}_z\\ q_{12}=t_z\end{array}\right.---\left(19\right)$

(19) formula can be expressed as: HQ=0 (20)

Wherein:

$H=\left[\begin{array}{cccccccccccc}-x_w& -y_w& -{\mathrm{<figure-callout\; id="0"\; label="z\; w"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">z</figure-callout>}}_w& 0& 0& 0& u{x}_w& u{y}_w& {\mathrm{uz}}_w& -1& 0& \mathrm{<figure-callout\; id="0"\; label="u"\; filenames="HDA00003320266500011.png,HDA00003320266500031.png"\; state="\{\{state\}\}">u</figure-callout>}\\ 0& 0& 0& -x_w& -y_w& -z_w& v{x}_w& {\mathrm{vy}}_w& {\mathrm{vz}}_w& 0& -1& v\end{array}\right],$

Q=[q ₁ q ₂ q ₃ q ₄ q ₅ q ₆ q ₇ q ₈ q ₉ q ₁₀ q ₁₁ q ₁₂] ^r

Because (20) formula is a homogeneous equation, it has infinite many groups to separate, and required camera parameters meets following two conditions:

(1) because r ₇, r ₈, r ₉be the row vector of last column of orthogonal matrix, it should be a unit vector, so $q_7^2+q_8^2{+q}_9^2=1.$

(2) q ₁₂symbol should adapt the position in world coordinates with video camera, if it is at Z _wthe forward of axle is being for just, otherwise, for negative, in this system, just is taken as.Answer this, after Q determines, actual camera parameters should be:

$N=\frac{Q}{\sqrt{q_7^2+q_8^2+q_9^2}}$

For only solving of (20) formula, need a particular solution with regard to known whole solution, can first suppose the value of a known unknown number, ask all the other unknown numbers, obtain a particular solution, because of world coordinate system initial point General Definition on measuring object, t _xvalue be non-vanishing, so can suppose q ₁₂=1, Q is solved, then pressed the value on (20) realistic border of formula, under this hypothesis, (20) formula can turn to:

H′Q′+q=0 （21）

Front 11 row that wherein H ' is H, last 1 row that q is H, 11 of the fronts that Q ' is Q variable.Can solve Q ' according to least square method, then can try to achieve the Q value, then try to achieve camera parameters according to (19) formula.

Relation by image physical coordinates and image coordinate has:

x _d=(u _d-u ₀)dx=(u-u ₀)f/α

y _d=(v _d-v ₀)dy=(v-v ₀)f/β

x=(u-u ₀)dx=(u-u ₀)f/α

y=(v-v ₀)dy=(v-v ₀)f/β

X wherein _d, y _dand x, y means respectively to have the image pixel coordinate of distortion error and undistorted error, and substitution formula (13), obtain error coefficient g _ilinear equation, can solve and obtain, according to above parameter, can be demarcated camera.

Carry out puncture template micro hole finder, determine the draw point array of integrated piercing.Needle falling hole on base plate is during with puncture template horizontal relative motion, or the coincidence parallel with every row aperture circle center line connecting of draw point array of needle falling hole center of circle movement locus; Needle falling hole is during with puncture template vertical relative motion, or the coincidence parallel with the circle center line connecting of the every row aperture of draw point array of needle falling hole deferent.

Calculate the relative position relation between needle falling hole and cloth pin datum hole.

Image is carried out to binaryzation, and mark (referring to Fig. 7), then respectively from four direction pointwise up and down traversal, find out four end points of tracking cross and the Position Approximate of central point, do laterally, vertically move by controlling base plate, until capture a cross connected domain; Again then, pointwise traversal, find out the central point of tracking cross, the position of horizontal and vertical four end points, calculates respectively the distance of the central point of tracking cross to horizontal and vertical four end points; Whether the central point that judges tracking cross equate to the distance of horizontal two end points, and control described base plate and laterally move, until the central point of tracking cross equates to the distance of horizontal two end points; Whether the central point that judges tracking cross is equal to the distance of vertical two end points, and control described base plate and do and vertically move, until central point is equal to the distance of vertical two end points, the distance of central point to four end points equates to prove that the base plate locating hole is coaxial with puncture template upper left corner aperture, realizes that locating hole is coaxial with cloth pin datum hole; According to the relative position relation between needle falling hole and locating hole, calculate the relative position relation between needle falling hole and cloth pin datum hole; The CCD camera is demarcated to the removal of images distortion and only carry out once after whole system is set up, each location does not need to be demarcated again later.

According to the draw point array of integrated piercing, control base plate and do laterally, vertically move, thus the location of realizing the equidistant solid matter micro hole of integrated piercing template.

Although the above is described the utility model in conjunction with figure; but the utility model is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; in the situation that do not break away from the utility model aim, can also make a lot of distortion, within these all belong to protection of the present utility model.

Claims (2)

1. the equidistant solid matter micro hole of an integrated piercing template positioner, comprise Industrial PC Computer, cloth pin mechanism, and ruddiness cross laser device and miniature CCD camera, is characterized in that,

Be fitted with video frequency collection card in the slot of described Industrial PC Computer, described cloth pin mechanism comprises base plate, but described base plate X-Y moves, described base plate is provided with locating hole, needle falling hole and a telescopic connecting rod, and the distance of described locating hole and needle falling hole is the integral multiple of puncture pattern hole spacing; Described miniature CCD camera is arranged on the end of telescopic connecting rod, and the tracking cross that described ruddiness cross laser device sends is positioned at the below of described miniature CCD camera, and the central point of this tracking cross is coaxial with described locating hole; The micro hole belonged on the puncture template is cloth pin datum hole, described miniature CCD camera is connected to described Industrial PC Computer by data wire, the vision signal through the tracking cross of cloth pin datum hole on described locating hole and puncture template that described miniature CCD camera is sent ruddiness cross laser device passes to video frequency collection card, described Industrial PC Computer is processed after this vision signal A/D is changed, thereby obtains the relative position relation between needle falling hole and cloth pin datum hole according to the relative position relation between needle falling hole and locating hole.

2. the equidistant solid matter micro hole of integrated piercing template according to claim 1 positioner, it is characterized in that, if cloth pin datum hole is the aperture that is positioned at the puncture template upper left corner, the centre-to-centre spacing of the equidistant solid matter micro hole of puncture template is r, and the distance of locating hole and needle falling hole is l _x=a * r, a is integer, if locating hole is coaxial with cloth pin datum hole, locating hole overlaps with the line in the first row aperture center of circle of draw point array on the puncture template with the line of needle falling hole, thereby show that needle falling hole (x, y) and the relative position relation of cloth pin datum hole are:

$\left\{\begin{array}{c}x=a\&times;r\\ y=0\end{array}\right..$

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